OpenRaiser/Intern-Atlas huggingface dataset:
How To Discover Short, Shorter, and the Shortest Proofs of Unsatisfiability: A Branch-and-Bound Approach for Resolution Proof Length Minimization
Venue: arXiv cs.AI 2024
Year: 2024

Modern software for propositional satisfiability problems gives a powerful automated reasoning toolkit, capable of outputting not only a satisfiable/unsatisfiable signal but also a justification of unsatisfiability in the form of resolution proof (or a more expressive proof), which is commonly used for verification purposes. Empirically, modern SAT solvers produce relatively short proofs, however, there are no inherent guarantees that these proofs cannot be significantly reduced. This paper proposes a novel branch-and-bound algorithm for finding the shortest resolution proofs; to this end, we introduce a layer list representation of proofs that groups clauses by their level of indirection. As we show, this representation breaks all permutational symmetries, thereby improving upon the state-of-the-art symmetry-breaking and informing the design of a novel workflow for proof minimization. In addition to that, we design pruning procedures that reason on proof length lower bound, clause subsumption, and dominance. Our experiments suggest that the proofs from state-of-the-art solvers could be shortened by 30-60% on the instances from SAT Competition 2002 and by 25-50% on small synthetic formulas. When treated as an algorithm for finding the shortest proof, our approach solves twice as many instances as the previous work based on SAT solving and reduces the time to optimality by orders of magnitude for the instances solved by both approaches.
The Universal PDDL Domain
Venue: arXiv cs.AI 2024
Year: 2024

In AI planning, it is common to distinguish between planning domains and problem instances, where a "domain" is generally understood as a set of related problem instances. This distinction is important, for example, in generalised planning, which aims to find a single, general plan or policy that solves all instances of a given domain. In PDDL, domains and problem instances are clearly separated: the domain defines the types, predicate symbols, and action schemata, while the problem instance specifies the concrete set of (typed) objects, the initial state, and the goal condition. In this paper, we show that it is quite easy to define a PDDL domain such that any propositional planning problem instance, from any domain, becomes an instance of this (lifted) "universal" domain. We construct different formulations of the universal domain, and discuss their implications for the complexity of lifted domain-dependent or generalised planning.
GREI Data Repository AI Taxonomy
Venue: arXiv cs.DL 2024
Year: 2024

The Generalist Repository Ecosystem Initiative (GREI), funded by the NIH, developed an AI taxonomy tailored to data repository roles to guide AI integration across repository management. It categorizes the roles into stages, including acquisition, validation, organization, enhancement, analysis, sharing, and user support, providing a structured framework for implementing AI in repository workflows.
CameraHMR: Aligning People with Perspective
Venue: arXiv cs.CV 2024
Year: 2024

We address the challenge of accurate 3D human pose and shape estimation from monocular images. The key to accuracy and robustness lies in high-quality training data. Existing training datasets containing real images with pseudo ground truth (pGT) use SMPLify to fit SMPL to sparse 2D joint locations, assuming a simplified camera with default intrinsics. We make two contributions that improve pGT accuracy. First, to estimate camera intrinsics, we develop a field-of-view prediction model (HumanFoV) trained on a dataset of images containing people. We use the estimated intrinsics to enhance the 4D-Humans dataset by incorporating a full perspective camera model during SMPLify fitting. Second, 2D joints provide limited constraints on 3D body shape, resulting in average-looking bodies. To address this, we use the BEDLAM dataset to train a dense surface keypoint detector. We apply this detector to the 4D-Humans dataset and modify SMPLify to fit the detected keypoints, resulting in significantly more realistic body shapes. Finally, we upgrade the HMR2.0 architecture to include the estimated camera parameters. We iterate model training and SMPLify fitting initialized with the previously trained model. This leads to more accurate pGT and a new model, CameraHMR, with state-of-the-art accuracy. Code and pGT are available for research purposes.
Fault Localization in Deep Learning-based Software: A System-level Approach
Venue: arXiv cs.SE 2024
Year: 2024

Over the past decade, Deep Learning (DL) has become an integral part of our daily lives. This surge in DL usage has heightened the need for developing reliable DL software systems. Given that fault localization is a critical task in reliability assessment, researchers have proposed several fault localization techniques for DL-based software, primarily focusing on faults within the DL model. While the DL model is central to DL components, there are other elements that significantly impact the performance of DL components. As a result, fault localization methods that concentrate solely on the DL model overlook a large portion of the system. To address this, we introduce FL4Deep, a system-level fault localization approach considering the entire DL development pipeline to effectively localize faults across the DL-based systems. In an evaluation using 100 faulty DL scripts, FL4Deep outperformed four previous approaches in terms of accuracy for three out of six DL-related faults, including issues related to data (84%), mismatched libraries between training and deployment (100%), and loss function (69%). Additionally, FL4Deep demonstrated superior precision and recall in fault localization for five categories of faults including three mentioned fault types in terms of accuracy, plus insufficient training iteration and activation function.
DPU: Dynamic Prototype Updating for Multimodal Out-of-Distribution Detection
Venue: arXiv cs.CV 2024
Year: 2024

Out-of-distribution (OOD) detection is essential for ensuring the robustness of machine learning models by identifying samples that deviate from the training distribution. While traditional OOD detection has primarily focused on single-modality inputs, such as images, recent advances in multimodal models have demonstrated the potential of leveraging multiple modalities (e.g., video, optical flow, audio) to enhance detection performance. However, existing methods often overlook intra-class variability within in-distribution (ID) data, assuming that samples of the same class are perfectly cohesive and consistent. This assumption can lead to performance degradation, especially when prediction discrepancies are uniformly amplified across all samples. To address this issue, we propose Dynamic Prototype Updating (DPU), a novel plug-and-play framework for multimodal OOD detection that accounts for intra-class variations. Our method dynamically updates class center representations for each class by measuring the variance of similar samples within each batch, enabling adaptive adjustments. This approach allows us to amplify prediction discrepancies based on the updated class centers, thereby improving the model's robustness and generalization across different modalities. Extensive experiments on two tasks, five datasets, and nine base OOD algorithms demonstrate that DPU significantly improves OOD detection performance, setting a new state-of-the-art in multimodal OOD detection, with improvements of up to 80 percent in Far-OOD detection. To facilitate accessibility and reproducibility, our code is publicly available on GitHub.
Enhanced Monocular Visual Odometry with AR Poses and Integrated INS-GPS for Robust Localization in Urban Environments
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with INS and GPS data, filtered through an Extended Kalman Filter . Our approach, tested using manually annotated trajectories from Google Street View, achieves an RMSE of 1.529 meters over a 1 km track. Future work will focus on real-time mobile implementation and further integration of visual-inertial odometry for robust localization. This method offers lane-level accuracy with minimal hardware, making advanced navigation more accessible.
Analyzing Pitch Content in Traditional Ghanaian Seperewa Songs
Venue: arXiv cs.SD 2024
Year: 2024

This study examines the pitch content in traditional Ghanaian seperewa (Akan harp-lute) songs, utilizing a unique dataset from field recordings of the mid-twentieth century. We selected 71 songs and used Demucs to isolate vocals from instrumental tracks. We then retrieved the F0 content from these isolated tacks and applied Gaussian Mixture Models (GMM) to approximate musical scales. Comparative F0 analysis between vocals and seperewa revealed higher microtonal deviations from equal temperament in vocal tracks. We also note challenges in using MIR tools for musical scale approximation in non-Western music. Our research contributes to the quantitative study of pitch in traditional music of Sub-Saharan Africa.
Control of Biohybrid Actuators using NeuroEvolution
Venue: arXiv cs.RO 2024
Year: 2024

In medical-related tasks, soft robots can perform better than conventional robots because of their compliant building materials and the movements they are able perform. However, designing soft robot controllers is not an easy task, due to the non-linear properties of their materials. Since human expertise to design such controllers is yet not sufficiently effective, a formal design process is needed. The present research proposes neuroevolution-based algorithms as the core mechanism to automatically generate controllers for biohybrid actuators that can be used on future medical devices, such as a catheter that will deliver drugs. The controllers generated by methodologies based on Neuroevolution of Augmenting Topologies (NEAT) and Hypercube-based NEAT (HyperNEAT) are compared against the ones generated by a standard genetic algorithm (SGA). In specific, the metrics considered are the maximum displacement in upward bending movement and the robustness to control different biohybrid actuator morphologies without redesigning the control strategy. Results indicate that the neuroevolution-based algorithms produce better suited controllers than the SGA. In particular, NEAT designed the best controllers, achieving up to 25% higher displacement when compared with SGA-produced specialised controllers trained over a single morphology and 23% when compared with general purpose controllers trained over a set of morphologies.
A Large-Scale Study of Relevance Assessments with Large Language Models: An Initial Look
Venue: arXiv cs.IR 2024
Year: 2024

The application of large language models to provide relevance assessments presents exciting opportunities to advance information retrieval, natural language processing, and beyond, but to date many unknowns remain. This paper reports on the results of a large-scale evaluation (the TREC 2024 RAG Track) where four different relevance assessment approaches were deployed in situ: the "standard" fully manual process that NIST has implemented for decades and three different alternatives that take advantage of LLMs to different extents using the open-source UMBRELA tool. This setup allows us to correlate system rankings induced by the different approaches to characterize tradeoffs between cost and quality. We find that in terms of nDCG@20, nDCG@100, and Recall@100, system rankings induced by automatically generated relevance assessments from UMBRELA correlate highly with those induced by fully manual assessments across a diverse set of 77 runs from 19 teams. Our results suggest that automatically generated UMBRELA judgments can replace fully manual judgments to accurately capture run-level effectiveness. Surprisingly, we find that LLM assistance does not appear to increase correlation with fully manual assessments, suggesting that costs associated with human-in-the-loop processes do not bring obvious tangible benefits. Overall, human assessors appear to be stricter than UMBRELA in applying relevance criteria. Our work validates the use of LLMs in academic TREC-style evaluations and provides the foundation for future studies.
Knowledge Bases in Support of Large Language Models for Processing Web News
Venue: arXiv cs.CL 2024
Year: 2024

Large Language Models (LLMs) have received considerable interest in wide applications lately. During pre-training via massive datasets, such a model implicitly memorizes the factual knowledge of trained datasets in its hidden parameters. However, knowledge held implicitly in parameters often makes its use by downstream applications ineffective due to the lack of common-sense reasoning. In this article, we introduce a general framework that permits to build knowledge bases with an aid of LLMs, tailored for processing Web news. The framework applies a rule-based News Information Extractor (NewsIE) to news items for extracting their relational tuples, referred to as knowledge bases, which are then graph-convoluted with the implicit knowledge facts of news items obtained by LLMs, for their classification. It involves two lightweight components: 1) NewsIE: for extracting the structural information of every news item, in the form of relational tuples; 2) BERTGraph: for graph convoluting the implicit knowledge facts with relational tuples extracted by NewsIE. We have evaluated our framework under different news-related datasets for news category classification, with promising experimental results.
When to Localize? A POMDP Approach
Venue: arXiv cs.RO 2024
Year: 2024

Robots often localize to lower navigational errors and facilitate downstream, high-level tasks. However, a robot may want to selectively localize when localization is costly (such as with resource-constrained robots) or inefficient (for example, submersibles that need to surface), especially when navigating in environments with variable numbers of hazards such as obstacles and shipping lanes. In this study, we propose a method that helps a robot determine ``when to localize'' to 1) minimize such actions and 2) not exceed the probability of failure (such as surfacing within high-traffic shipping lanes). We formulate our method as a Constrained Partially Observable Markov Decision Process and use the Cost-Constrained POMCP solver to plan the robot's actions. The solver simulates failure probabilities to decide if a robot moves to its goal or localizes to prevent failure. We performed numerical experiments with multiple baselines.
Restoration algorithms and system performance evaluation for active imagers
Venue: arXiv cs.CV 2024
Year: 2024

This paper deals with two fields related to active imaging system. First, we begin to explore image processing algorithms to restore the artefacts like speckle, scintillation and image dancing caused by atmospheric turbulence. Next, we examine how to evaluate the performance of this kind of systems. To do this task, we propose a modified version of the german TRM3 metric which permits to get MTF-like measures. We use the database acquired during NATO-TG40 field trials to make our tests.
Evaluating Synthetic Command Attacks on Smart Voice Assistants
Venue: arXiv cs.CR 2024
Year: 2024

Recent advances in voice synthesis, coupled with the ease with which speech can be harvested for millions of people, introduce new threats to applications that are enabled by devices such as voice assistants (e.g., Amazon Alexa, Google Home etc.). We explore if unrelated and limited amount of speech from a target can be used to synthesize commands for a voice assistant like Amazon Alexa. More specifically, we investigate attacks on voice assistants with synthetic commands when they match command sources to authorized users, and applications (e.g., Alexa Skills) process commands only when their source is an authorized user with a chosen confidence level. We demonstrate that even simple concatenative speech synthesis can be used by an attacker to command voice assistants to perform sensitive operations. We also show that such attacks, when launched by exploiting compromised devices in the vicinity of voice assistants, can have relatively small host and network footprint. Our results demonstrate the need for better defenses against synthetic malicious commands that could target voice assistants.
Motion Control for Enhanced Complex Action Video Generation
Venue: arXiv cs.CV 2024
Year: 2024

Existing text-to-video (T2V) models often struggle with generating videos with sufficiently pronounced or complex actions. A key limitation lies in the text prompt's inability to precisely convey intricate motion details. To address this, we propose a novel framework, MVideo, designed to produce long-duration videos with precise, fluid actions. MVideo overcomes the limitations of text prompts by incorporating mask sequences as an additional motion condition input, providing a clearer, more accurate representation of intended actions. Leveraging foundational vision models such as GroundingDINO and SAM2, MVideo automatically generates mask sequences, enhancing both efficiency and robustness. Our results demonstrate that, after training, MVideo effectively aligns text prompts with motion conditions to produce videos that simultaneously meet both criteria. This dual control mechanism allows for more dynamic video generation by enabling alterations to either the text prompt or motion condition independently, or both in tandem. Furthermore, MVideo supports motion condition editing and composition, facilitating the generation of videos with more complex actions. MVideo thus advances T2V motion generation, setting a strong benchmark for improved action depiction in current video diffusion models. Our project page is available at https://mvideo-v1.github.io/.
Refining Translations with LLMs: A Constraint-Aware Iterative Prompting Approach
Venue: arXiv cs.CL 2024
Year: 2024

Large language models (LLMs) have demonstrated remarkable proficiency in machine translation (MT), even without specific training on the languages in question. However, translating rare words in low-resource or domain-specific contexts remains challenging for LLMs. To address this issue, we propose a multi-step prompt chain that enhances translation faithfulness by prioritizing key terms crucial for semantic accuracy. Our method first identifies these keywords and retrieves their translations from a bilingual dictionary, integrating them into the LLM's context using Retrieval-Augmented Generation (RAG). We further mitigate potential output hallucinations caused by long prompts through an iterative self-checking mechanism, where the LLM refines its translations based on lexical and semantic constraints. Experiments using Llama and Qwen as base models on the FLORES-200 and WMT datasets demonstrate significant improvements over baselines, highlighting the effectiveness of our approach in enhancing translation faithfulness and robustness, particularly in low-resource scenarios.
Integrative Wrapping System for a Dual-Arm Humanoid Robot
Venue: arXiv cs.RO 2024
Year: 2024

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using sim-to-real and learning, there have been few proposals for humanoid robots and systems that enable continuous, multi-step actions of flexible materials. Wrapping an object with paper and tape is more complex and diverse than traditional manipulation research due to the increased number of objects that need to be handled, as well as the three-dimensionality of the operation. In this research, necessary information is organized and coded based on the characteristics of each object handled in wrapping. We also generalize the hardware configuration, manipulation method, and recognition system that enable humanoid wrapping operations. The system will include manipulation with admittance control focusing on paper tension and state evaluation using point clouds to handle three-dimensional flexible objects. Finally, wrapping objects with different shapes is experimented with to show the generality and effectiveness of the proposed system.
DiVR: incorporating context from diverse VR scenes for human trajectory prediction
Venue: arXiv cs.AI 2024
Year: 2024

Virtual environments provide a rich and controlled setting for collecting detailed data on human behavior, offering unique opportunities for predicting human trajectories in dynamic scenes. However, most existing approaches have overlooked the potential of these environments, focusing instead on static contexts without considering userspecific factors. Employing the CREATTIVE3D dataset, our work models trajectories recorded in virtual reality (VR) scenes for diverse situations including road-crossing tasks with user interactions and simulated visual impairments. We propose Diverse Context VR Human Motion Prediction (DiVR), a cross-modal transformer based on the Perceiver architecture that integrates both static and dynamic scene context using a heterogeneous graph convolution network. We conduct extensive experiments comparing DiVR against existing architectures including MLP, LSTM, and transformers with gaze and point cloud context. Additionally, we also stress test our model's generalizability across different users, tasks, and scenes. Results show that DiVR achieves higher accuracy and adaptability compared to other models and to static graphs. This work highlights the advantages of using VR datasets for context-aware human trajectory modeling, with potential applications in enhancing user experiences in the metaverse. Our source code is publicly available at https://gitlab.inria.fr/ffrancog/creattive3d-divr-model.
Towards Optimizing a Retrieval Augmented Generation using Large Language Model on Academic Data
Venue: arXiv cs.AI 2024
Year: 2024

Given the growing trend of many organizations integrating Retrieval Augmented Generation (RAG) into their operations, we assess RAG on domain-specific data and test state-of-the-art models across various optimization techniques. We incorporate four optimizations; Multi-Query, Child-Parent-Retriever, Ensemble Retriever, and In-Context-Learning, to enhance the functionality and performance in the academic domain. We focus on data retrieval, specifically targeting various study programs at a large technical university. We additionally introduce a novel evaluation approach, the RAG Confusion Matrix designed to assess the effectiveness of various configurations within the RAG framework. By exploring the integration of both open-source (e.g., Llama2, Mistral) and closed-source (GPT-3.5 and GPT-4) Large Language Models, we offer valuable insights into the application and optimization of RAG frameworks in domain-specific contexts. Our experiments show a significant performance increase when including multi-query in the retrieval phase.